Line data Source code
1 : /****************************************************************************/
2 : // Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
3 : // Copyright (C) 2001-2024 German Aerospace Center (DLR) and others.
4 : // This program and the accompanying materials are made available under the
5 : // terms of the Eclipse Public License 2.0 which is available at
6 : // https://www.eclipse.org/legal/epl-2.0/
7 : // This Source Code may also be made available under the following Secondary
8 : // Licenses when the conditions for such availability set forth in the Eclipse
9 : // Public License 2.0 are satisfied: GNU General Public License, version 2
10 : // or later which is available at
11 : // https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
12 : // SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
13 : /****************************************************************************/
14 : /// @file MSCFModel_IDM.h
15 : /// @author Tobias Mayer
16 : /// @author Daniel Krajzewicz
17 : /// @author Michael Behrisch
18 : /// @date Thu, 03 Sep 2009
19 : ///
20 : // The Intelligent Driver Model (IDM) car-following model
21 : /****************************************************************************/
22 : #pragma once
23 : #include <config.h>
24 :
25 : #include "MSCFModel.h"
26 : #include <microsim/MSLane.h>
27 : #include <microsim/MSVehicle.h>
28 : #include <microsim/MSVehicleType.h>
29 : #include <utils/xml/SUMOXMLDefinitions.h>
30 :
31 :
32 : // ===========================================================================
33 : // class definitions
34 : // ===========================================================================
35 : /** @class MSCFModel_IDM
36 : * @brief The Intelligent Driver Model (IDM) car-following model
37 : * @see MSCFModel
38 : */
39 : class MSCFModel_IDM : public MSCFModel {
40 : public:
41 : /** @brief Constructor
42 : * @param[in] vtype the type for which this model is built and also the parameter object to configure this model
43 : * @param[in] idmm Wether IDM or IDMM shall be built
44 : */
45 : MSCFModel_IDM(const MSVehicleType* vtype, bool idmm);
46 :
47 :
48 : /** @brief Constructor
49 : * @param[in] accel The maximum acceleration
50 : * @param[in] decel The maximum deceleration
51 : * @param[in] emergencyDecel The maximum emergency deceleration
52 : * @param[in] apparentDecel The deceleration as expected by others
53 : * @param[in] headwayTime the headway gap
54 : * @param[in] adaptationFactor a model constant
55 : * @param[in] adaptationTime a model constant
56 : * @param[in] internalStepping internal time step size
57 : */
58 : MSCFModel_IDM(const MSVehicleType* vtype, double accel, double decel, double emergencyDecel, double apparentDecel,
59 : double headwayTime, double adaptationFactor, double adaptationTime,
60 : double internalStepping);
61 :
62 :
63 : /// @brief Destructor
64 : ~MSCFModel_IDM();
65 :
66 :
67 : /// @name Implementations of the MSCFModel interface
68 : /// @{
69 :
70 : /** @brief Applies interaction with stops and lane changing model influences
71 : * @param[in] veh The ego vehicle
72 : * @param[in] vPos The possible velocity
73 : * @return The velocity after applying interactions with stops and lane change model influences
74 : */
75 : double finalizeSpeed(MSVehicle* const veh, double vPos) const;
76 :
77 : /** @brief Computes the vehicle's safe speed without a leader
78 : *
79 : * Returns the velocity of the vehicle in dependence to the length of the free street and the target
80 : * velocity at the end of the free range. If onInsertion is true, the vehicle may still brake
81 : * before the next movement.
82 : * @param[in] veh The vehicle (EGO)
83 : * @param[in] speed The vehicle's speed
84 : * @param[in] seen The look ahead distance
85 : * @param[in] maxSpeed The maximum allowed speed
86 : * @param[in] onInsertion whether speed at insertion is asked for
87 : * @return EGO's safe speed
88 : */
89 : virtual double freeSpeed(const MSVehicle* const veh, double speed, double seen,
90 : double maxSpeed, const bool onInsertion = false, const CalcReason usage = CalcReason::CURRENT) const;
91 :
92 : /** @brief Computes the vehicle's safe speed (no dawdling)
93 : * @param[in] veh The vehicle (EGO)
94 : * @param[in] speed The vehicle's speed
95 : * @param[in] gap2pred The (net) distance to the LEADER
96 : * @param[in] predSpeed The speed of LEADER
97 : * @return EGO's safe speed
98 : * @see MSCFModel::ffeV
99 : */
100 : double followSpeed(const MSVehicle* const veh, double speed, double gap2pred, double predSpeed,
101 : double predMaxDecel, const MSVehicle* const pred = 0, const CalcReason usage = CalcReason::CURRENT) const;
102 :
103 :
104 : /** @brief Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling)
105 : * @param[in] veh The vehicle (EGO)
106 : * @param[in] gap2pred The (net) distance to the obstacle
107 : * @return EGO's safe speed for approaching a non-moving obstacle
108 : * @see MSCFModel::ffeS
109 : * @todo generic Interface, models can call for the values they need
110 : */
111 : double stopSpeed(const MSVehicle* const veh, const double speed, double gap, double decel, const CalcReason usage = CalcReason::CURRENT) const;
112 :
113 :
114 : /** @brief Returns the maximum gap at which an interaction between both vehicles occurs
115 : *
116 : * "interaction" means that the LEADER influences EGO's speed.
117 : * @param[in] veh The EGO vehicle
118 : * @param[in] vL LEADER's speed
119 : * @return The interaction gap
120 : * @todo evaluate signature
121 : * @see MSCFModel::interactionGap
122 : */
123 : double interactionGap(const MSVehicle* const, double vL) const;
124 :
125 :
126 : /** @brief Computes the vehicle's safe speed (no dawdling)
127 : * This method is used during the insertion stage. Whereas the method
128 : * followSpeed returns the desired speed which may be lower than the safe
129 : * speed, this method only considers safety constraints
130 : *
131 : * Returns the velocity of the vehicle in dependence to the vehicle's and its leader's values and the distance between them.
132 : * @param[in] veh The vehicle (EGO)
133 : * @param[in] speed The vehicle's speed
134 : * @param[in] gap2pred The (net) distance to the LEADER
135 : * @param[in] predSpeed The speed of LEADER
136 : * @return EGO's safe speed
137 : */
138 : double insertionFollowSpeed(const MSVehicle* const veh, double speed, double gap2pred, double predSpeed, double predMaxDecel, const MSVehicle* const pred = 0) const;
139 :
140 : /** @brief Computes the vehicle's safe speed for approaching an obstacle at insertion without constraints
141 : * due to acceleration capabilities and previous speeds.
142 : * @param[in] veh The vehicle (EGO)
143 : * @param[in] speed The vehicle's speed
144 : * @param[in] gap The (net) distance to the obstacle
145 : * @return EGO's safe speed for approaching a non-moving obstacle at insertion
146 : * @see stopSpeed() and insertionFollowSpeed()
147 : *
148 : */
149 : double insertionStopSpeed(const MSVehicle* const veh, double speed, double gap) const;
150 :
151 : /** @brief Returns the minimum gap to reserve if the leader is braking at maximum (>=0)
152 : * @param[in] veh The vehicle itself, for obtaining other values
153 : * @param[in] pred The leader vehicle, for obtaining other values
154 : * @param[in] speed EGO's speed
155 : * @param[in] leaderSpeed LEADER's speed
156 : * @param[in] leaderMaxDecel LEADER's max. deceleration rate
157 : */
158 : double getSecureGap(const MSVehicle* const veh, const MSVehicle* const pred, const double speed, const double leaderSpeed, const double leaderMaxDecel) const;
159 :
160 : /** @brief Returns the model's name
161 : * @return The model's name
162 : * @see MSCFModel::getModelName
163 : */
164 0 : int getModelID() const {
165 0 : return myAdaptationFactor == 1. ? SUMO_TAG_CF_IDM : SUMO_TAG_CF_IDMM;
166 : }
167 :
168 : double minNextSpeed(double speed, const MSVehicle* const veh = 0) const;
169 : /// @}
170 :
171 :
172 :
173 : /** @brief Duplicates the car-following model
174 : * @param[in] vtype The vehicle type this model belongs to (1:1)
175 : * @return A duplicate of this car-following model
176 : */
177 : MSCFModel* duplicate(const MSVehicleType* vtype) const;
178 :
179 :
180 272252 : VehicleVariables* createVehicleVariables() const {
181 272252 : if (myAdaptationFactor != 1.) {
182 6878 : return new VehicleVariables();
183 : }
184 : return 0;
185 : }
186 :
187 :
188 : private:
189 : class VehicleVariables : public MSCFModel::VehicleVariables {
190 : public:
191 6878 : VehicleVariables() : levelOfService(1.) {}
192 : /// @brief state variable for remembering speed deviation history (lambda)
193 : double levelOfService;
194 : };
195 :
196 :
197 : private:
198 : double _v(const MSVehicle* const veh, const double gap2pred, const double mySpeed,
199 : const double predSpeed, const double desSpeed, const bool respectMinGap = true) const;
200 :
201 :
202 : private:
203 : /// @brief whether the model is IDMM or IDM
204 : const bool myIDMM;
205 :
206 : /// @brief The IDM delta exponent
207 : const double myDelta;
208 :
209 : /// @brief The IDMM adaptation factor beta
210 : const double myAdaptationFactor;
211 :
212 : /// @brief The IDMM adaptation time tau
213 : const double myAdaptationTime;
214 :
215 : /// @brief The number of iterations in speed calculations
216 : const int myIterations;
217 :
218 : /// @brief A computational shortcut
219 : const double myTwoSqrtAccelDecel;
220 :
221 : private:
222 : /// @brief Invalidated assignment operator
223 : MSCFModel_IDM& operator=(const MSCFModel_IDM& s);
224 : };
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